CN112370313B - System and method for testing lower limb exoskeleton capable of offsetting gravity - Google Patents
System and method for testing lower limb exoskeleton capable of offsetting gravity Download PDFInfo
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- CN112370313B CN112370313B CN202011247971.8A CN202011247971A CN112370313B CN 112370313 B CN112370313 B CN 112370313B CN 202011247971 A CN202011247971 A CN 202011247971A CN 112370313 B CN112370313 B CN 112370313B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/008—Using suspension devices for supporting the body in an upright walking or standing position, e.g. harnesses
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
Abstract
The invention discloses a test system and a test method for a lower limb exoskeleton counteracting gravity, wherein the test system comprises a support frame and a human body simulating lower limb structure hung on the support frame; the support frame is provided with two groups of driving and sensor assemblies, each group of driving and sensor assemblies comprises a stepping motor, a lead screw sliding table guide rail, an S-shaped position tension sensor and a stay wire displacement sensor, the driving and sensor assemblies simulate the motion of lower limbs of a human body by driving a human body lower limb movement simulating structure through the lead screw sliding table guide rail driven by the stepping motor, and the S-shaped position tension sensor and the stay wire displacement sensor are fixed on a sliding block of the lead screw sliding table guide rail and are respectively used for collecting the bearing traction force of the steel wire rope and measuring the displacement of the sliding block. The invention can simply and effectively simulate the actions of the legs of the lower limbs of the human body, and can convert the effect of the exoskeleton in gravity compensation into the tensile force of the steel wire rope for measurement and evaluation.
Description
Technical Field
The invention relates to the technical field of exoskeleton testing, in particular to a testing system and a testing method for a lower limb exoskeleton capable of offsetting gravity.
Background
For astronauts to work under low gravity conditions such as space stations or other planet surfaces, a wearable exoskeleton training scheme is provided, which utilizes an exoskeleton to balance and counteract the gravity of a human body so as to perform low gravity simulation training on the ground surface.
However, a complete set of test system and test method is needed for the loss of power transmission and the delay of signal transmission of the mechanical exoskeleton, whether the designed exoskeleton can effectively counteract the gravity of the trunk, and whether the performance of the exoskeleton in actual use can reach the expectation.
Disclosure of Invention
The invention aims to provide a test system and a test method for a lower limb exoskeleton capable of offsetting gravity, aiming at evaluating the performance of the lower limb exoskeleton for offsetting the gravity and researching the offsetting effect and response speed of the tested lower limb exoskeleton on the lower limb gravity by using the test system and the test method.
The technical scheme adopted for realizing the purpose of the invention is as follows:
a test system for a lower limb exoskeleton counteracting gravity comprises a support frame and a human body simulating lower limb structure hung on the support frame, wherein the lower limb movement of the human body simulating lower limb structure involves two degrees of freedom of flexion and extension at a hip joint and flexion and extension at a knee joint; the utility model discloses a lead screw slip table, including bearing frame, lead screw slip table guide rail, S type position force sensor, bracing wire displacement sensor, lead screw slip table guide rail, S type position force sensor, bracing wire displacement sensor, the last two sets of drives and the sensor module of setting up of bearing frame, every group drive and sensor module include step motor, lead screw slip table guide rail, S type position force sensor, bracing wire displacement sensor, drive and sensor module utilize the imitative human low limbs motion structure of wire rope drive to simulate human low limbs motion, S type position force sensor and bracing wire displacement sensor are used for gathering wire rope' S the displacement that bears traction force and measure the slider respectively on being fixed in the slider of lead screw slip table guide rail.
And the two ends of the steel wire rope are respectively fixed with an S-shaped position tension sensor and the human body lower limb imitation structure.
The human body lower limb imitation structure comprises a human body imitation thigh and a human body imitation shank which are connected through a shaft and a bearing to form a rotating hinge structure, and the human body imitation thigh and the human body imitation shank are integrally processed and formed by adopting a nylon material or printed by adopting a 3D printing technology and using a resin material.
And the steel wire rope is sleeved with a steel wire rope spool to form a spool driving system.
Wherein, four edges of the supporting frame are provided with universal wheels through tapping, so that the carrying and the moving are convenient.
The support frame is cut by adopting European standard aluminum profiles, and assembled by bolts and screws to form a rectangular frame structure.
The human body lower limb imitation structure is suspended on the supporting frame through a suspension supporting plate, the suspension supporting plate is fixed above the supporting frame through bolts, and the suspension supporting plate is formed by machining an aluminum alloy machine and used for suspending a lower limb exoskeleton and a human body lower limb imitation structure.
The invention also aims to provide a test method of the test system for the exoskeleton of the lower limbs counteracting the gravity, which comprises the following steps:
the human body lower limb simulating structure is suspended on the supporting frame, the human body lower limb simulating structure is driven to perform human body gait simulating motion through a driving module in the driving and sensing assembly, and the tension of the steel wire rope and the displacement on the sliding table are tested through a sensing module in the driving and sensing assembly;
the detected data are transmitted to an upper computer through serial port communication, and the upper computer obtains work of driving a human body simulation lower limb structure in a no-exoskeleton state through calculation;
the exoskeleton is installed in a test system for offsetting the gravity lower limb exoskeleton, the steps are repeated, the tension and the displacement of the steel wire rope after the exoskeleton is assembled are obtained, and the work of driving the human body imitation lower limb structure to do in the state of assembling the exoskeleton is obtained through calculation;
the performance of the lower limb exoskeleton in gravity offset is tested by comparing the work done by driving the humanoid lower limb structure in the state without exoskeleton and the work done by driving the humanoid lower limb structure in the state with the lower limb exoskeleton assembled.
According to the exoskeleton testing system provided by the invention, through simple matching of the stepping motor, the lead screw guide rail module and the steel wire rope, the action of the legs of the lower limbs of a human body can be simulated simply and effectively, the effect of the exoskeleton in gravity compensation can be converted into the tension of the steel wire rope for measurement and evaluation, and the testing method is simpler and more effective.
According to the exoskeleton testing system provided by the invention, the driving module and the sensing module are integrated into a whole, the structural volume is reduced, and the exoskeleton testing system is convenient to disassemble, assemble and use.
The exoskeleton testing system provided by the invention has the advantages of mature component technology, simple manufacturing process and lower consumed cost.
Drawings
FIG. 1 is a block diagram of a lower extremity exoskeleton testing system according to the invention;
FIG. 2 is a schematic structural view of the drive and sense assembly of the present invention;
FIG. 3 is a schematic view of a human lower limb simulation;
FIGS. 4-5 are schematic views of the driving principle of the human body-like lower limb structure (FIG. 4 is before the steel wire rope is pulled, and FIG. 5 is after the steel wire rope is pulled);
FIG. 6 is a graph of the prediction plotted from the test data.
In the figure: 1-a drive and sense assembly; 2-imitating the lower limb structure of a human body; 3-hanging the supporting plate; 4-a support frame; 5-a central control box; 6-a step motor; 7-S type position tension sensor; 8-stay wire displacement sensor; 9-lead screw sliding table guide rail; 10-fixing the bottom plate; 11-driver, 12-humanoid thigh; 13-imitating human shank; 14-driving wire grooves, 15-steel wire ropes and 16-steel wire rope conduits.
Detailed Description
The invention is described in further detail below with reference to the figures and specific examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The invention provides a lower limb exoskeleton performance test system, which is characterized in that a built lower limb aluminum platform is hung with a simulated lower limb of a human body, the lower limb movement involves two degrees of freedom of flexion and extension at a hip joint and flexion and extension at a knee joint, the lower limb is driven by a steel wire rope to simulate the movement of the lower limb of the human body, a tension sensor is fixed at the tail end of the steel wire rope, and the traction force borne by the steel wire rope is acquired, so that the lower limb exoskeleton performance test is realized.
As shown in fig. 1-5, the present invention provides a system for testing exoskeleton performance of lower limbs, comprising a support frame 4 and a humanoid lower limb structure 2 suspended on the support frame by suspending a support plate 3, wherein lower limb movement of the humanoid lower limb structure 2 involves two degrees of freedom of flexion and extension at hip joint and flexion and extension at knee joint; the supporting frame is provided with a driving and sensor assembly 1 which comprises a stepping motor 6, a lead screw sliding table guide rail 9, an S-shaped position tension sensor 7 and a stay wire displacement sensor 8, the tension sensor is fixed at the tail end of a steel wire rope 15, the driving and sensor assembly 1 simulates the motion of lower limbs of a human body by driving the motion of the lower limbs of the human body through the stepping motor 6 and the lead screw sliding table guide rail 9, the S-shaped position tension sensor 7 and the stay wire displacement sensor 8 collect the traction force borne by the steel wire rope, and therefore the exoskeleton performance test of the lower limbs is achieved.
The stepping motor 6 of the driving and sensing assembly 1 and the lead screw sliding table guide rail 9 are fixedly arranged on the fixing bottom plate 10, the S-shaped tension sensor and the stay wire displacement sensor are fixed on a sliding block of the lead screw guide rail, and the hook of the S-shaped tension sensor is matched with the butterfly buckle to use one end of the fixing steel wire rope for measuring the traction force of the rope. The stay wire displacement sensor is fixed on the lead screw slide block guide rail and used for measuring the displacement of the slide block, and two ends of the steel wire rope are respectively fixed on the push-pull dynamometer hook and the human body lower limb simulating structure.
The human body imitation lower limb structure 2 comprises a human body imitation thigh 12 and a human body imitation calf 13, and is integrally processed and formed by adopting a nylon material, and can also be printed by adopting a resin material by adopting a 3D printing technology. The upper end of a human body imitation thigh 12 is connected with the suspension supporting plate 3, the lower end of the human body imitation thigh is connected with a human body imitation shank 13 through a shaft and a bearing to form a rotating hinge, and a driving wire groove 14 with a groove structure is arranged on the side facing to the side and the back side of the human body lower limb structure and used for installing a wire pipe driving system consisting of a wire rope 15 and a wire rope pipe 16.
The number of the driving and sensing assemblies 1 is two, the two driving and sensing assemblies 1 are respectively installed on two sides of the top end of the supporting frame 1 of the whole testing system, and the driving and sensing assemblies respectively drive and sense the human body simulating thigh 12 and the human body simulating shank 13 in the human body simulating lower limb structure 2. The stepping motor 6 can be controlled by the single chip microcomputer or the upper computer through the driver 11 to drive the sliding block to do linear motion through the ball screw guide rail.
Further, a controller 11 is arranged on a fixing bottom plate 10 of the driving and sensing assembly 1 of the lower extremity exoskeleton testing system and used for controlling the driving and sensing assembly 1, wherein the controller 11 is connected with a stepper motor 6, and is connected with the S-shaped position tension sensor 7 and the pull wire displacement sensor 8 to drive the stepper motor to rotate and collect signals of the S-shaped position tension sensor 7 and the pull wire displacement sensor 8.
Wherein, the controller 11 is connected with the central control box 5, and the central control box can be arranged on the supporting frame. A power source and a motor controller are arranged in the central control box, a reserved space is used for placing the exoskeleton testing controller, all circuit wiring is contained, and power is supplied in a centralized mode.
The supporting frame can be cut by adopting European standard aluminum profiles and assembled by bolts and screws, is simple to mount and has stronger reliability and certain machinability.
Furthermore, four edges of the supporting frame can be provided with universal wheels through tapping, so that the carrying and the moving are convenient.
The suspension support plate 3 is fixed above the support frame through bolts, is machined and formed by an aluminum alloy machine, and is used for suspending the lower limb exoskeleton and the human body lower limb simulation structure.
When the whole testing system is used for testing, the driving module in the driving and sensing assembly 1 drives the human body simulating lower limb structure 2 to perform human body simulating gait movement, and the sensing module in the overdrive and sensing assembly 1 tests the tension of the steel wire rope 15 and the displacement on the sliding table.
When in use, the test is carried out in two steps. The first step is that the stepping motor 6 and the lead screw sliding table guide rail 9 in the driving and sensing component 1 are independently utilized to drive the human body lower limb imitation structure 2 (comprising the human body thigh imitation 12 and the human body calf imitation 13) to move through the wire pipe device (comprising the steel wire rope 15 and the steel wire rope wire pipe 16) so as to simulate the walking motion of the human body lower limbs. The S-shaped position tension sensor 7 and the stay wire displacement sensor 8 in the driving and sensing assembly 1 apply tension F of the steel wire rope 15 1 And measuring the displacement X, and transmitting the data to an upper computer through serial port communication. The upper computer can obtain the work W for driving the human body imitation lower limb structure 2 to do in the state without the exoskeleton through calculation 1 . The second step is that the steps are repeated when the exoskeleton is installed in the whole exoskeleton testing system, and the tensile force F of the steel wire rope 15 after the exoskeleton is assembled can be obtained 2 And a displacement X. The work W for driving the lower limb structure 2 of the humanoid body in the state of assembling the exoskeleton can be obtained through calculation 2 . The performance of the lower extremity exoskeleton in gravity force counteraction can be tested through comparison.
Wherein when the exoskeleton is not installed, the stepping motor does work on the structure of the lower limbs of the human body,
when the exoskeleton is installed, the stepping motor does work on the structure of the lower limbs of the human body,
the efficiency η of the exoskeleton counteracting the gravitational force under test can be determined by,
and (5) calculating.
The prediction graph is plotted from the test data of the tension, displacement and work done as shown in fig. 6. The difference between the two shadowed areas in fig. 6 can be used as an important parameter for the performance evaluation of the exoskeleton.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (8)
1. The test system for the lower limb exoskeleton capable of offsetting the gravity is characterized by comprising a support frame and a human-simulated lower limb structure hung on the support frame, wherein the human-simulated lower limb structure comprises a human-simulated thigh and a human-simulated shank, the lower end of the human-simulated thigh and the human-simulated shank are connected through a shaft and a bearing to form a rotating hinge, and the lower limb movement of the human-simulated lower limb structure involves two degrees of freedom of flexion and extension at a hip joint and flexion and extension at a knee joint; two groups of driving and sensing assemblies are arranged on the supporting frame, and the two driving and sensing assemblies respectively drive and sense and detect the humanoid thigh and the humanoid shank in the humanoid lower limb structure; every group drive and sensor module include step motor, lead screw slip table guide rail, S type position force transducer, the displacement sensor that acts as go-between, drive and sensor module utilize the imitative human low limbs motion structure of wire rope drive to simulate human low limbs motion through step motor driven lead screw slip table guide rail, S type position force transducer and the displacement sensor that acts as go-between are fixed in on the slider of lead screw slip table guide rail, are used for gathering wire rope' S the displacement that bears traction force and measurement slider respectively.
2. The system for testing the lower extremity exoskeleton of claim 1, wherein the S-position tension sensor and the humanoid lower extremity structure are fixed to the two ends of the wire rope respectively.
3. The system for testing the lower extremity exoskeleton of claim 1, wherein the human-like lower extremity structure is integrally formed from nylon or printed from resin using 3D printing technology.
4. The system for testing an exoskeleton of a lower limb that counteracts gravity of claim 1, wherein the wire rope conduit is sleeved outside the wire rope to form a conduit drive system.
5. The system of claim 1 where the support frame is provided with gimbaled wheels at its four corners for ease of handling and movement.
6. The system for testing the lower limb exoskeleton of claim 1, wherein the support frame is cut by European standard aluminum profiles and assembled by screws and bolts to form a rectangular frame structure.
7. The system of claim 1, wherein the humanoid lower extremity structure is suspended from the support frame by a suspension support plate, the suspension support plate being bolted to the support frame and machined from aluminum alloy for suspending the lower extremity exoskeleton and the humanoid lower extremity structure.
8. A method of testing the system of any of claims 1-7 for the testing of lower extremity exoskeleton counteracting gravity, comprising the steps of:
the human body lower limb simulating structure is hung on the supporting frame, the human body lower limb simulating structure is driven to perform human body gait simulating motion through a driving module in the driving and sensing assembly, and the tension of the steel wire rope and the displacement on the sliding table are tested through a sensing module in the driving and sensing assembly;
the detected data are transmitted to an upper computer through serial port communication, and the upper computer obtains work of driving a human body simulation lower limb structure in a no-exoskeleton state through calculation;
the exoskeleton is installed in a testing system for offsetting the gravity lower limb exoskeleton, the steps are repeated, the tension and the displacement of the steel wire rope after the exoskeleton is assembled are obtained, and the work of driving the humanoid lower limb structure to do in the state of assembling the exoskeleton is obtained through calculation;
the performance of the exoskeleton in gravity offset is tested by comparing the work done by driving the humanoid lower limb structure in the exoskeleton-free state and the work done by driving the humanoid lower limb structure in the exoskeleton-assembled state of the lower limbs.
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| CN113252328B (en) * | 2021-05-13 | 2022-10-18 | 重庆理工大学 | Exoskeleton fatigue life testing device |
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